相关论文: SelfOccFlow: Towards end-to-end self-supervised 3D…

Accurate perception of the surrounding environment is essential for safe autonomous driving. 3D occupancy prediction, which estimates detailed 3D structures of roads, buildings, and other objects, is particularly important for…

Efficient and high-accuracy 3D occupancy prediction is vital for the performance of autonomous driving systems. However, existing methods struggle to balance precision and efficiency: high-accuracy approaches are often hindered by heavy…

In this work, we pioneer Semantic Flow, a neural semantic representation of dynamic scenes from monocular videos. In contrast to previous NeRF methods that reconstruct dynamic scenes from the colors and volume densities of individual…

We introduce UniOcc, a comprehensive, unified benchmark and toolkit for occupancy forecasting (i.e., predicting future occupancies based on historical information) and occupancy prediction (i.e., predicting current-frame occupancy from…

3D occupancy and scene flow offer a detailed and dynamic representation of 3D scene. Recognizing the sparsity and complexity of 3D space, previous vision-centric methods have employed implicit learning-based approaches to model spatial and…

3D environment recognition is essential for autonomous driving systems, as autonomous vehicles require a comprehensive understanding of surrounding scenes. Recently, the predominant approach to define this real-life problem is through 3D…

Perceiving the world and forecasting its future state is a critical task for self-driving. Supervised approaches leverage annotated object labels to learn a model of the world -- traditionally with object detections and trajectory…

3D scene flow estimation aims to estimate point-wise motions between two consecutive frames of point clouds. Superpoints, i.e., points with similar geometric features, are usually employed to capture similar motions of local regions in 3D…

In recent years, the LiDAR images, as a 2D compact representation of 3D LiDAR point clouds, are widely applied in various tasks, e.g., 3D semantic segmentation, LiDAR point cloud compression (PCC). Among these works, the optical flow…

Learning 3D scene flow from LiDAR point clouds presents significant difficulties, including poor generalization from synthetic datasets to real scenes, scarcity of real-world 3D labels, and poor performance on real sparse LiDAR point…

Scene flow estimation is a long-standing problem in computer vision, where the goal is to find the 3D motion of a scene from its consecutive observations. Recently, there have been efforts to compute the scene flow from 3D point clouds. A…

Motion detection is a fundamental but challenging task for autonomous driving. In particular scenes like highway, remote objects have to be paid extra attention for better controlling decision. Aiming at distant vehicles, we train a neural…

Scene flow is the three-dimensional (3D) motion field of a scene. It provides information about the spatial arrangement and rate of change of objects in dynamic environments. Current learning-based approaches seek to estimate the scene flow…

This work proposes a novel approach to 4D radar-based scene flow estimation via cross-modal learning. Our approach is motivated by the co-located sensing redundancy in modern autonomous vehicles. Such redundancy implicitly provides various…

Visual Odometry (VO) plays a pivotal role in autonomous systems, with a principal challenge being the lack of depth information in camera images. This paper introduces OCC-VO, a novel framework that capitalizes on recent advances in deep…

Holistic understanding and reasoning in 3D scenes are crucial for the success of autonomous driving systems. The evolution of 3D semantic occupancy prediction as a pretraining task for autonomous driving and robotic applications captures…

The task of motion prediction is pivotal for autonomous driving systems, providing crucial data to choose a vehicle behavior strategy within its surroundings. Existing motion prediction techniques primarily focus on predicting the future…

In the realm of autonomous driving, accurate 3D perception is the foundation. However, developing such models relies on extensive human annotations -- a process that is both costly and labor-intensive. To address this challenge from a data…

Visual-based 3D semantic occupancy perception is a key technology for robotics, including autonomous vehicles, offering an enhanced understanding of the environment by 3D. This approach, however, typically requires more computational…

Scene flow represents the motion of points in the 3D space, which is the counterpart of the optical flow that represents the motion of pixels in the 2D image. However, it is difficult to obtain the ground truth of scene flow in the real…